Library throws key error exception with Learning Guide example code

hukuzatuna commented 3 years ago

I have a freshly-configured Raspberry Pi 4 (8GB) that generates an exception when exercising the BNO085 sensor. When I first tried it I was using the Beta 64-bit OS, so I thought it was a storage boundary problem. Reverted to the standard 32-bit OS and the problem persists. Configured a Raspberry Pi Pico and attached the same device, and it ran flawlessly for days (ruling out a hardware problem with the sensor?)

Problem:

pi@matchbox:~ $ bno085

        ********** Packet *************
DBG::        HEADER:
DBG::        Data Len: 15
DBG::        Channel: INPUT_SENSOR_REPORTS (3)
DBG::           ** UNKNOWN Report Type **: 0x7b
DBG::        Sequence number: 14

DBG::        Data:
DBG::       [0x04] 0x7B 0x07 0x00 0x00 
DBG::       [0x08] 0x00 0x01 0x04 0x02 
DBG::       [0x0C] 0x00 0x9E 0xFF 0xB2 
DBG::       [0x10] 0xF6 0x86 0x03 
        *******************************

Traceback (most recent call last):
  File "/home/pi/bin/bno085", line 22, in <module>
    bno.enable_feature(BNO_REPORT_MAGNETOMETER)
  File "/usr/local/lib/python3.7/dist-packages/adafruit_bno08x/__init__.py", line 977, in enable_feature
    self._process_available_packets(max_packets=10)
  File "/usr/local/lib/python3.7/dist-packages/adafruit_bno08x/__init__.py", line 785, in _process_available_packets
    self._handle_packet(new_packet)
  File "/usr/local/lib/python3.7/dist-packages/adafruit_bno08x/__init__.py", line 843, in _handle_packet
    raise error
  File "/usr/local/lib/python3.7/dist-packages/adafruit_bno08x/__init__.py", line 838, in _handle_packet
    _separate_batch(packet, self._packet_slices)
  File "/usr/local/lib/python3.7/dist-packages/adafruit_bno08x/__init__.py", line 353, in _separate_batch
    required_bytes = _report_length(report_id)
  File "/usr/local/lib/python3.7/dist-packages/adafruit_bno08x/__init__.py", line 342, in _report_length
    return _AVAIL_SENSOR_REPORTS[report_id][2]
KeyError: 123
pi@matchbox:~ $

Code that generated the problem (taken straight from the learning guide):

#!/usr/bin/python3

# SPDX-FileCopyrightText: 2020 Bryan Siepert, written for Adafruit Industries
#
# SPDX-License-Identifier: Unlicense
import time
import board
import busio
from adafruit_bno08x import (
    BNO_REPORT_ACCELEROMETER,
    BNO_REPORT_GYROSCOPE,
    BNO_REPORT_MAGNETOMETER,
    BNO_REPORT_ROTATION_VECTOR,
)
from adafruit_bno08x.i2c import BNO08X_I2C

i2c = busio.I2C(board.SCL, board.SDA, frequency=800000)
bno = BNO08X_I2C(i2c)

bno.enable_feature(BNO_REPORT_ACCELEROMETER)
bno.enable_feature(BNO_REPORT_GYROSCOPE)
bno.enable_feature(BNO_REPORT_MAGNETOMETER)
bno.enable_feature(BNO_REPORT_ROTATION_VECTOR)

while True:

    time.sleep(0.5)
    print("Acceleration:")
    accel_x, accel_y, accel_z = bno.acceleration  # pylint:disable=no-member
    print("X: %0.6f  Y: %0.6f Z: %0.6f  m/s^2" % (accel_x, accel_y, accel_z))
    print("")

    print("Gyro:")
    gyro_x, gyro_y, gyro_z = bno.gyro  # pylint:disable=no-member
    print("X: %0.6f  Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z))
    print("")

    print("Magnetometer:")
    mag_x, mag_y, mag_z = bno.magnetic  # pylint:disable=no-member
    print("X: %0.6f  Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z))
    print("")

    print("Rotation Vector Quaternion:")
    quat_i, quat_j, quat_k, quat_real = bno.quaternion  # pylint:disable=no-member
    print(
        "I: %0.6f  J: %0.6f K: %0.6f  Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)
    )
    print("")

Expected behavior: It should print the IMU data.

caternuson commented 3 years ago

Dealing with clock stretching is always the first suspicion. But the BNO08x seems to be ever more "fun".

hukuzatuna commented 3 years ago

Related? https://forums.adafruit.com/viewtopic.php?f=19&t=174424

Dealing with clock stretching is always the first suspicion. But the BNO08x seems to be ever more "fun".

Yes, clearly related! I had tried the 10kHz baudrate trick, but it does not work. As per the forum suggestion I added

dtparam=i2c_arm_baudrate=400000

to /boot/config.txt, rebooted, and the sensor is working as expected. Thank you @caternuson ! (Closing issue)

ladyada commented 3 years ago

@caternuson ok want to add to guide?

caternuson commented 3 years ago

I'll update it for now, since this seems to work. And the 10kHz slowdown does not. But seems really weird to me that speeding up the I2C clock is fixing a clock stretching issue. I'm concerned there's more going on with this sensor maybe.

ladyada commented 3 years ago

maybe at too-low rates it cant read the reports fast enough, and the sensors gets 'backed up'?

adafruit / Adafruit_CircuitPython_BNO08x

Library throws key error exception with Learning Guide example code #16